1. TUJUAN
Setelah perkuliahan ini mahasiswa diharapkan dapat :
Menganalisis sistem kendali dalam kawasan frekuensi dengan menggunakan
metode bode plot
-20
Magnitude (dB)
-40
-60
-80
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
2.2 Gain dan Phasa Margin
Gain margin didefinisikan sebagai perubahan dalam penguatan yang dikehendaki
loop terbuka yang membuat sistem tidak stabil. Phasa Margin didefinisikan
sebagai perubahan dalam penggeseran phasa loop terbuka yang ditetapkan untuk
membuat sistem loop tertutup tidak stabil
%G(s) = K/(s2+2s2+s+0.5)
K = 0.5;
Numg=K;
Deng=[1 2 1 0.5];
Sys=tf(numg,deng);
W=logspace(-1,1,200);
[mag,phase,w]=bode(sys,w);
Margin(mag,phase,w);
Bode Diagram
Gm = 9.54 dB (at 1 rad/sec) , Pm = 49 deg (at 0.643 rad/sec)
20
0
Magnitude (dB)
-20
-40
-60
-80
0
Phase (deg)
-90
-180
-270
-1 0 1
10 10 10
Frequency (rad/sec)
3. TUGAS
Gambarkan diagram bode dan tentukan batas kestabilan sistem tersebut
10𝐾
1) G(s)H(s) = 𝑠(𝑠+1)(𝑠+2)
Jawab :
K = 10;
numg = K;
deng = poly ([0 -1 -2]);
'G(s)'
printsys (numg,deng);
title ('Open-loop Frequency respons')
[mag,phase,w] = bode (numg,deng,w);
db = 20*log10(mag);
disp('OmegaW mag db phase')
[w,mag,db,phase]
title('Bode Diagram'); xlabel('W-plane Frequency');
ylabel ('dB'); grid
xlabel ('W-Plane Frequency'); ylabel ('Phase'); grid
margin(mag,phase,w)
Bode Diagram
Gm = -4.4 dB (at 1.41 rad/sec) , Pm = -12.9 deg (at 1.8 rad/sec)
50
Response: untitled1
Frequency (rad/sec): 1.41
Magnitude (dB): 4.4
0
Response: untitled1
Frequency (rad/sec): 1.81
Magnitude (dB): -0.0621
Magnitude (dB)
-50
-100
-150
-90
-135
Response: untitled1
Frequency (rad/sec): 1.4
Phase (deg)
Response: untitled1
Frequency (rad/sec): 1.8
-225 Phase (deg): -193
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
𝐾
2) G(s)H(s) = 𝑠(𝑠+1)(0.5𝑠+1)
Jawab :
K = 1;
numg = K;
deng = conv ([1 1],[0.5 1]);
'G(s)'
printsys (numg,deng);
title ('Open-loop Frequency respons')
[mag,phase,w] = bode (numg,deng,w);
db = 20*log10(mag);
disp('OmegaW mag db phase')
[w,mag,db,phase]
title('Bode Diagram'); xlabel('W-plane Frequency');
ylabel ('dB'); grid
xlabel ('W-Plane Frequency'); ylabel ('Phase'); grid
margin(mag,phase,w)
Bode Diagram
Gm = 90.1 dB (at 253 rad/sec) , Pm = Inf
0
-20
-60
-80
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
17𝐾(𝑠+4.41)
3) G(s)H(s) = 𝑠(𝑠+2)(𝑠+18.4)
Jawab :
K = 1;
num1 = 17*K; num2 =[1 4.41];
deng = poly ([0 -2 -18.4]);
'G(s)'
printsys (numg,deng);
title ('Open-loop Frequency respons')
[mag,phase,w] = bode (numg,deng,w);
db = 20*log10(mag);
disp('OmegaW mag db phase')
[w,mag,db,phase]
title('Bode Diagram'); xlabel('W-plane Frequency');
ylabel ('dB'); grid
xlabel ('W-Plane Frequency'); ylabel ('Phase'); grid
margin(mag,phase,w)
Bode Diagram
Gm = 57.5 dB (at 6.07 rad/sec) , Pm = Inf
0
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
4𝐾
4) G(s)H(s) = 𝑠(𝑠+2)
Jawab :
K = 1;
numg = 4*K ;
deng = [1 2 0];
'G(s)'
printsys (numg,deng);
title ('Open-loop Frequency respons')
[mag,phase,w] = bode (numg,deng,w);
db = 20*log10(mag);
disp('OmegaW mag db phase')
[w,mag,db,phase]
title('Bode Diagram'); xlabel('W-plane Frequency');
ylabel ('dB'); grid
xlabel ('W-Plane Frequency'); ylabel ('Phase'); grid
margin(mag,phase,w)
Bode Diagram
Gm = 84.1 dB (at 253 rad/sec) , Pm = 51.8 deg (at 1.57 rad/sec)
40
Response: untitled1
20 Frequency (rad/sec): 1.62
Magnitude (dB): -0.415
Magnitude (dB)
-20
-40
-60
-80
-90
Phase (deg)
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
Jawab :
K = 1;
L = 0.062;
R = 2.5;
Km = 0.026;
Kb = 0.02;
Jeff = 0.0004;
Beef = 0.001;
/LANGKAH 1/ :
ng1 = [K]; dg1=[1];
sysg1 = tf(ng1,dg1);
ng2=[1]; dg2=[L R];
sysg2 = tf(ng2,dg2);
ng3=[Km]; dg3=[1];
sysg3 = tf (ng3,dg3);
ng4=[1]; dg4=[Jeff Beef];
sysg4 = tf(ng4,dg4);
ng5=[1]; dg5=[1];
sysg5 = tf(ng5,dg5);
nh1=[Kb]; dh1=[1];
sysh1 = tf(nh1,dh1);
sys1 = sysh1/sysg5;
sys2 = series (sysg2,sysg3);
sys3 = series (sys2,sysg4)
sys4 = feedback (sys3,sys1,+1);
sys5 = series (sysg1,sys4);
sys = feedback (sys5,+1);
Transfer function:
0.026
-----------------------------------
2.48e-005 s^2 + 0.001062 s + 0.0025
/langkah 2/ :
K = 1;
numg = 26*10^-3*K ;
deng = [2.48 1*10^-3 25*10^-4];
'G(s)'
printsys (numg,deng);
title ('Open-loop Frequency respons')
[mag,phase,w] = bode (numg,deng,w);
db = 20*log10(mag);
disp('OmegaW mag db phase')
[w,mag,db,phase]
title('Bode Diagram'); xlabel('W-plane Frequency');
ylabel ('dB'); grid
xlabel ('W-Plane Frequency'); ylabel ('Phase'); grid
margin(mag,phase,w)
Bode Diagram
Gm = 136 dB (at 253 rad/sec) , Pm = 0.237 deg (at 0.107 rad/sec)
50
Response: untitled1
Frequency (rad/sec): 0.11
Magnitude (dB): -0.484
0
Magnitude (dB)
-50
-100
-150
-179.6
-179.7
Phase (deg)
Response: untitled1
-179.8 Frequency (rad/sec): 0.107
Phase (deg): -180
-179.9
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
6) Jawab :
K = 1;
numg = K ;
deng = [1 0.5 1];
'G(s)'
printsys (numg,deng);
title ('Open-loop Frequency respons')
[mag,phase,w] = bode (numg,deng,w);
db = 20*log10(mag);
disp('OmegaW mag db phase')
[w,mag,db,phase]
title('Bode Diagram'); xlabel('W-plane Frequency');
ylabel ('dB'); grid
xlabel ('W-Plane Frequency'); ylabel ('Phase'); grid
margin(mag,phase,w)
Bode Diagram
Gm = 96.1 dB (at 253 rad/sec) , Pm = 43.5 deg (at 1.32 rad/sec)
20
0
Response: untitled1
Magnitude (dB) -20 Frequency (rad/sec): 1.32
Magnitude (dB): 0.148
-40
-60
-80
0
-45
Phase (deg)
-90
-135
Response: untitled1
Frequency (rad/sec): 1.27
-180
-1 0 Phase (deg): -132 1 2
10 10 10 10
Frequency (rad/sec)